\hypertarget{classPin__KinDyn}{}\doxysection{Pin\+\_\+\+Kin\+Dyn Class Reference}
\label{classPin__KinDyn}\index{Pin\_KinDyn@{Pin\_KinDyn}}
\doxysubsection*{Classes}
\begin{DoxyCompactItemize}
\item 
struct \mbox{\hyperlink{structPin__KinDyn_1_1IkRes}{Ik\+Res}}
\end{DoxyCompactItemize}
\doxysubsection*{Public Types}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a611e5a3180d568a0d8be21a917ab3880}\label{classPin__KinDyn_a611e5a3180d568a0d8be21a917ab3880}} 
enum {\bfseries leg\+Idx} \{ {\bfseries left}
, {\bfseries right}
 \}
\end{DoxyCompactItemize}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ae93c8e81370ff96aa2dc26ff9c92b0a0}\label{classPin__KinDyn_ae93c8e81370ff96aa2dc26ff9c92b0a0}} 
{\bfseries Pin\+\_\+\+Kin\+Dyn} (std\+::string urdf\+\_\+path\+In)
\item 
\mbox{\Hypertarget{classPin__KinDyn_a432f42a03a22037c6e5372559269a711}\label{classPin__KinDyn_a432f42a03a22037c6e5372559269a711}} 
void {\bfseries data\+Bus\+Read} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} const \&robot\+State)
\item 
\mbox{\Hypertarget{classPin__KinDyn_a11219e9adc1cdbc5ed664c173d1300a8}\label{classPin__KinDyn_a11219e9adc1cdbc5ed664c173d1300a8}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
\item 
\mbox{\Hypertarget{classPin__KinDyn_a3d2d699d8fb1754f980477615515638c}\label{classPin__KinDyn_a3d2d699d8fb1754f980477615515638c}} 
void {\bfseries compute\+J\+\_\+dJ} ()
\item 
\mbox{\Hypertarget{classPin__KinDyn_a7fc88a3c811004ff7feb508dce849e65}\label{classPin__KinDyn_a7fc88a3c811004ff7feb508dce849e65}} 
void {\bfseries compute\+Dyn} ()
\item 
\mbox{\Hypertarget{classPin__KinDyn_afd752ffe2b038e1386023d41326574c8}\label{classPin__KinDyn_afd752ffe2b038e1386023d41326574c8}} 
\mbox{\hyperlink{structPin__KinDyn_1_1IkRes}{Ik\+Res}} {\bfseries compute\+In\+K\+\_\+\+Leg} (const Eigen\+::\+Matrix3d \&Rdes\+\_\+L, const Eigen\+::\+Vector3d \&Pdes\+\_\+L, const Eigen\+::\+Matrix3d \&Rdes\+\_\+R, const Eigen\+::\+Vector3d \&Pdes\+\_\+R)
\item 
\mbox{\Hypertarget{classPin__KinDyn_a8e90245dd880ed9dc08de1e745242e96}\label{classPin__KinDyn_a8e90245dd880ed9dc08de1e745242e96}} 
\mbox{\hyperlink{structPin__KinDyn_1_1IkRes}{Ik\+Res}} {\bfseries compute\+In\+K\+\_\+\+Hand} (const Eigen\+::\+Matrix3d \&Rdes\+\_\+L, const Eigen\+::\+Vector3d \&Pdes\+\_\+L, const Eigen\+::\+Matrix3d \&Rdes\+\_\+R, const Eigen\+::\+Vector3d \&Pdes\+\_\+R)
\item 
\mbox{\Hypertarget{classPin__KinDyn_ab80c3e1eded085ad3212d533e6508f20}\label{classPin__KinDyn_ab80c3e1eded085ad3212d533e6508f20}} 
Eigen\+::\+Vector\+Xd {\bfseries integrate\+DIY} (const Eigen\+::\+Vector\+Xd \&qI, const Eigen\+::\+Vector\+Xd \&dqI)
\item 
\mbox{\Hypertarget{classPin__KinDyn_a5268234bf043cf654a03ce51dfa315e1}\label{classPin__KinDyn_a5268234bf043cf654a03ce51dfa315e1}} 
void {\bfseries workspace\+Constraint} (Eigen\+::\+Vector\+Xd \&q\+FT, Eigen\+::\+Vector\+Xd \&tau\+Joint\+FT)
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a61b9dfb8b579bbe132c0f1e48d2b4db7}\label{classPin__KinDyn_a61b9dfb8b579bbe132c0f1e48d2b4db7}} 
static Eigen\+::\+Quaterniond {\bfseries int\+Quat} (const Eigen\+::\+Quaterniond \&quat, const Eigen\+::\+Matrix$<$ double, 3, 1 $>$ \&w)
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6235d4189f80a1b2ccc5cfeb6c549ca3}\label{classPin__KinDyn_a6235d4189f80a1b2ccc5cfeb6c549ca3}} 
std\+::vector$<$ bool $>$ {\bfseries motor\+Reach\+Limit}
\item 
const std\+::vector$<$ std\+::string $>$ {\bfseries motor\+Name}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a81eda1dcd228a9ab0c1d7de3993e6bf6}\label{classPin__KinDyn_a81eda1dcd228a9ab0c1d7de3993e6bf6}} 
Eigen\+::\+Vector\+Xd {\bfseries motor\+Max\+Torque}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a2b0c660fb563a580dde4f7d21d1737b0}\label{classPin__KinDyn_a2b0c660fb563a580dde4f7d21d1737b0}} 
Eigen\+::\+Vector\+Xd {\bfseries motor\+Max\+Pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a0b23dde50899e66163d9ba2794c27ded}\label{classPin__KinDyn_a0b23dde50899e66163d9ba2794c27ded}} 
Eigen\+::\+Vector\+Xd {\bfseries motor\+Min\+Pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a697a29a765cf30888bbf5bcd3c30da02}\label{classPin__KinDyn_a697a29a765cf30888bbf5bcd3c30da02}} 
Eigen\+::\+Vector\+Xd {\bfseries tau\+Joint\+Old}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a41fd7d14a83467e248a4392cddafd0d3}\label{classPin__KinDyn_a41fd7d14a83467e248a4392cddafd0d3}} 
std\+::string {\bfseries urdf\+\_\+path}
\item 
\mbox{\Hypertarget{classPin__KinDyn_acfbedd4d0d51b70d5841abf29f16f25f}\label{classPin__KinDyn_acfbedd4d0d51b70d5841abf29f16f25f}} 
pinocchio\+::\+Model {\bfseries model\+\_\+biped}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a4aeb4ee392f40d4f1b75a905500286f6}\label{classPin__KinDyn_a4aeb4ee392f40d4f1b75a905500286f6}} 
pinocchio\+::\+Model {\bfseries model\+\_\+biped\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aba6977419785158480f4695fd3fec5dc}\label{classPin__KinDyn_aba6977419785158480f4695fd3fec5dc}} 
int {\bfseries model\+\_\+nv}
\item 
\mbox{\Hypertarget{classPin__KinDyn_acdf0835fded44fbe593855434315dd09}\label{classPin__KinDyn_acdf0835fded44fbe593855434315dd09}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+ankle\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a17964f57048d80c30e9302eb627d1be8}\label{classPin__KinDyn_a17964f57048d80c30e9302eb627d1be8}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+ankle\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a7a906af197c73e9bc2567cd3fdd26c47}\label{classPin__KinDyn_a7a906af197c73e9bc2567cd3fdd26c47}} 
pinocchio\+::\+Joint\+Index {\bfseries base\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a0ee3756210eac61d305f8acaa0246a86}\label{classPin__KinDyn_a0ee3756210eac61d305f8acaa0246a86}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+hip\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a15f6c9ca92e4df61e4debb131993f326}\label{classPin__KinDyn_a15f6c9ca92e4df61e4debb131993f326}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+hip\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a53383efe3ff12828f2211f877746f596}\label{classPin__KinDyn_a53383efe3ff12828f2211f877746f596}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+hip\+\_\+roll\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a7e1c0890c0e660781db9b589bfe7e9d2}\label{classPin__KinDyn_a7e1c0890c0e660781db9b589bfe7e9d2}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+hip\+\_\+roll\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a0062ef77379526221164c66e5a5053f9}\label{classPin__KinDyn_a0062ef77379526221164c66e5a5053f9}} 
pinocchio\+::\+Joint\+Index {\bfseries waist\+\_\+yaw\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a3334a090a7dc4a7a8bb34e2d331d1353}\label{classPin__KinDyn_a3334a090a7dc4a7a8bb34e2d331d1353}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+ankle\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a11918e1ae710570cf7abfe44404fba8b}\label{classPin__KinDyn_a11918e1ae710570cf7abfe44404fba8b}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+ankle\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aa87aa5140169a923120ebab9919dc459}\label{classPin__KinDyn_aa87aa5140169a923120ebab9919dc459}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+hip\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a98a154603b33b463d460d69c7b17840f}\label{classPin__KinDyn_a98a154603b33b463d460d69c7b17840f}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+hip\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aec4403f513a85faa9d174f4765228036}\label{classPin__KinDyn_aec4403f513a85faa9d174f4765228036}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+hand\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ad1ca47fdcc64bb1e42ec810c56fa75ce}\label{classPin__KinDyn_ad1ca47fdcc64bb1e42ec810c56fa75ce}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+hand\+\_\+joint}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6d2f0758c1518778d31e54a67da88b30}\label{classPin__KinDyn_a6d2f0758c1518778d31e54a67da88b30}} 
pinocchio\+::\+Joint\+Index {\bfseries r\+\_\+hand\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6c18059312aa6efa998002b128769cf5}\label{classPin__KinDyn_a6c18059312aa6efa998002b128769cf5}} 
pinocchio\+::\+Joint\+Index {\bfseries l\+\_\+hand\+\_\+joint\+\_\+fixed}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6454448c08ce057ec17466dcafd96666}\label{classPin__KinDyn_a6454448c08ce057ec17466dcafd96666}} 
Eigen\+::\+Vector\+Xd {\bfseries q}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a246c8be67c0f4cadbd6ff9f6289d8808}\label{classPin__KinDyn_a246c8be67c0f4cadbd6ff9f6289d8808}} 
Eigen\+::\+Vector\+Xd {\bfseries dq}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a7a635e50f51c600f0cf05d5dc0d60546}\label{classPin__KinDyn_a7a635e50f51c600f0cf05d5dc0d60546}} 
Eigen\+::\+Vector\+Xd {\bfseries ddq}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a879924f751764037e0c43570ac40ffab}\label{classPin__KinDyn_a879924f751764037e0c43570ac40ffab}} 
Eigen\+::\+Matrix3d {\bfseries Rcur}
\item 
\mbox{\Hypertarget{classPin__KinDyn_af0fb61fda80f8ddb27a0bf84ea112f31}\label{classPin__KinDyn_af0fb61fda80f8ddb27a0bf84ea112f31}} 
Eigen\+::\+Quaternion$<$ double $>$ {\bfseries quat\+Cur}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ac335fde0745d539bef344a04a91e54bd}\label{classPin__KinDyn_ac335fde0745d539bef344a04a91e54bd}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+r}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ae6b57d24eded0d43a70a445d78591492}\label{classPin__KinDyn_ae6b57d24eded0d43a70a445d78591492}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+l}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ae3cd2560cf426406f5793207c4f0e4e9}\label{classPin__KinDyn_ae3cd2560cf426406f5793207c4f0e4e9}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6b8555b5bb662917205f049a1dbe7579}\label{classPin__KinDyn_a6b8555b5bb662917205f049a1dbe7579}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a008d32126ffcbcedca97536d8adeeead}\label{classPin__KinDyn_a008d32126ffcbcedca97536d8adeeead}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+base}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a25adbc070346b4c56a29ffcad2567b5d}\label{classPin__KinDyn_a25adbc070346b4c56a29ffcad2567b5d}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries J\+\_\+hip\+\_\+link}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ac2d202d504bccb622fc66156432b9d0f}\label{classPin__KinDyn_ac2d202d504bccb622fc66156432b9d0f}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+r}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a85489301936f12e00e58a9a997dea33e}\label{classPin__KinDyn_a85489301936f12e00e58a9a997dea33e}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+l}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6be84a91b4458187f9741e0050f95fd5}\label{classPin__KinDyn_a6be84a91b4458187f9741e0050f95fd5}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+hd\+\_\+r}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a632f7851accd83d244334825852aeab6}\label{classPin__KinDyn_a632f7851accd83d244334825852aeab6}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+hd\+\_\+l}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a06e2a072eed15e3b187d86bc95c4ef83}\label{classPin__KinDyn_a06e2a072eed15e3b187d86bc95c4ef83}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+base}
\item 
\mbox{\Hypertarget{classPin__KinDyn_abcabcf1e068df34fcc8324ec568a75f5}\label{classPin__KinDyn_abcabcf1e068df34fcc8324ec568a75f5}} 
Eigen\+::\+Matrix$<$ double, 6,-\/1 $>$ {\bfseries d\+J\+\_\+hip\+\_\+link}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aaf29a66c38d8145d97817e32b1e10bb2}\label{classPin__KinDyn_aaf29a66c38d8145d97817e32b1e10bb2}} 
Eigen\+::\+Matrix$<$ double, 3,-\/1 $>$ {\bfseries Jcom}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ae6cb6e20875996c6243cc289f6bf127c}\label{classPin__KinDyn_ae6cb6e20875996c6243cc289f6bf127c}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+r\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ade120aa2bb6cfbf18868b666e77e4711}\label{classPin__KinDyn_ade120aa2bb6cfbf18868b666e77e4711}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+l\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a79512bb0eb39b4ba78d0c36ce1a739cf}\label{classPin__KinDyn_a79512bb0eb39b4ba78d0c36ce1a739cf}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ab39ac8df8d6b69f53d985eca28177b34}\label{classPin__KinDyn_ab39ac8df8d6b69f53d985eca28177b34}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+r\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_afed034fe61edaa6aa36df8c901fc9e28}\label{classPin__KinDyn_afed034fe61edaa6aa36df8c901fc9e28}} 
Eigen\+::\+Vector3d {\bfseries fe\+\_\+l\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aba5b9af499a3c3f81f490b54e34991c6}\label{classPin__KinDyn_aba5b9af499a3c3f81f490b54e34991c6}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+r\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a8de858c5bd62babd3d36df437e08be92}\label{classPin__KinDyn_a8de858c5bd62babd3d36df437e08be92}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+l\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aac50fbd6bdff3bc838de986315bf8cd7}\label{classPin__KinDyn_aac50fbd6bdff3bc838de986315bf8cd7}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+r\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a5eba5c788410fe05e5fe243631f9e3b2}\label{classPin__KinDyn_a5eba5c788410fe05e5fe243631f9e3b2}} 
Eigen\+::\+Vector3d {\bfseries hd\+\_\+l\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_afc16893d044c20781a288c5c1710257f}\label{classPin__KinDyn_afc16893d044c20781a288c5c1710257f}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+r\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a49cf98ca47a3074a6318dfb72227913a}\label{classPin__KinDyn_a49cf98ca47a3074a6318dfb72227913a}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+l\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a8ceb426f4bccfb4066a5b0738de94177}\label{classPin__KinDyn_a8ceb426f4bccfb4066a5b0738de94177}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+link\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a541ccf408ed784361c031921a93137db}\label{classPin__KinDyn_a541ccf408ed784361c031921a93137db}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+r\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a63a9d828bf82b54e7f6af65267b00b87}\label{classPin__KinDyn_a63a9d828bf82b54e7f6af65267b00b87}} 
Eigen\+::\+Vector3d {\bfseries hip\+\_\+l\+\_\+pos\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ad688ad41ea35895f8e388c3a57cd74e2}\label{classPin__KinDyn_ad688ad41ea35895f8e388c3a57cd74e2}} 
Eigen\+::\+Matrix3d {\bfseries hip\+\_\+link\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_adcb1509a37999bcbf637a95786b19efa}\label{classPin__KinDyn_adcb1509a37999bcbf637a95786b19efa}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+r\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ac4040e935721db8ea7cf0fad90599ad7}\label{classPin__KinDyn_ac4040e935721db8ea7cf0fad90599ad7}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+l\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a743c47fe851c5dee9b852b760e9bf809}\label{classPin__KinDyn_a743c47fe851c5dee9b852b760e9bf809}} 
Eigen\+::\+Matrix3d {\bfseries base\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_adbc3d08c55bc3f94acf14cfe7e735eb3}\label{classPin__KinDyn_adbc3d08c55bc3f94acf14cfe7e735eb3}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+r\+\_\+rot\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ab48b18384639b211ac70cdb670a6dd90}\label{classPin__KinDyn_ab48b18384639b211ac70cdb670a6dd90}} 
Eigen\+::\+Matrix3d {\bfseries fe\+\_\+l\+\_\+rot\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a6e72e11b7c2a7c648a9599e9e912a6f8}\label{classPin__KinDyn_a6e72e11b7c2a7c648a9599e9e912a6f8}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+r\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a2406329f82787e92aa8c3cfab10bda70}\label{classPin__KinDyn_a2406329f82787e92aa8c3cfab10bda70}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+l\+\_\+rot}
\item 
\mbox{\Hypertarget{classPin__KinDyn_aa8801df8ff914baf5a07643afe6b80ca}\label{classPin__KinDyn_aa8801df8ff914baf5a07643afe6b80ca}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+r\+\_\+rot\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a860130a4374ecd0080a0e68830147f87}\label{classPin__KinDyn_a860130a4374ecd0080a0e68830147f87}} 
Eigen\+::\+Matrix3d {\bfseries hd\+\_\+l\+\_\+rot\+\_\+body}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a136c294262a7f8a4172c9efb5dec2627}\label{classPin__KinDyn_a136c294262a7f8a4172c9efb5dec2627}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+M}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ae7e6121409beacc2a4c1f3214012a467}\label{classPin__KinDyn_ae7e6121409beacc2a4c1f3214012a467}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+M\+\_\+inv}
\item 
\mbox{\Hypertarget{classPin__KinDyn_ab64e10d5034313bf4d7fc54e385686ad}\label{classPin__KinDyn_ab64e10d5034313bf4d7fc54e385686ad}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+C}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a1d528b488460f27b8bac70d1e26d9ee1}\label{classPin__KinDyn_a1d528b488460f27b8bac70d1e26d9ee1}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+G}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a508a92b965d4044c361cc7a41afcb4b4}\label{classPin__KinDyn_a508a92b965d4044c361cc7a41afcb4b4}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+\+Ag}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a87b2bf2c470ab43b90913000ac0d4f65}\label{classPin__KinDyn_a87b2bf2c470ab43b90913000ac0d4f65}} 
Eigen\+::\+Matrix\+Xd {\bfseries dyn\+\_\+d\+Ag}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a77dca70b3681c902798dc281c54a1791}\label{classPin__KinDyn_a77dca70b3681c902798dc281c54a1791}} 
Eigen\+::\+Vector\+Xd {\bfseries dyn\+\_\+\+Non}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a186ab4dcf146680f38113f9cbd55de24}\label{classPin__KinDyn_a186ab4dcf146680f38113f9cbd55de24}} 
Eigen\+::\+Vector3d {\bfseries Co\+M\+\_\+pos}
\item 
\mbox{\Hypertarget{classPin__KinDyn_a8c15990b1d6a9bfdbeea23bdc7edef0a}\label{classPin__KinDyn_a8c15990b1d6a9bfdbeea23bdc7edef0a}} 
Eigen\+::\+Matrix3d {\bfseries inertia}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 25 of file pino\+\_\+kin\+\_\+dyn.\+h.



\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{classPin__KinDyn_a1a645b13e20a97675f7d7f88ce32d3e2}\label{classPin__KinDyn_a1a645b13e20a97675f7d7f88ce32d3e2}} 
\index{Pin\_KinDyn@{Pin\_KinDyn}!motorName@{motorName}}
\index{motorName@{motorName}!Pin\_KinDyn@{Pin\_KinDyn}}
\doxysubsubsection{\texorpdfstring{motorName}{motorName}}
{\footnotesize\ttfamily const std\+::vector$<$std\+::string$>$ Pin\+\_\+\+Kin\+Dyn\+::motor\+Name}

{\bfseries Initial value\+:}
\begin{DoxyCode}{0}
\DoxyCodeLine{=\{\textcolor{stringliteral}{"{}J\_arm\_l\_01"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_02"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_03"{}}, \textcolor{stringliteral}{"{}J\_arm\_l\_04"{}}, \textcolor{stringliteral}{"{}J\_arm\_l\_05"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_arm\_l\_06"{}},\textcolor{stringliteral}{"{}J\_arm\_l\_07"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_01"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_02"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_03"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_arm\_r\_04"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_05"{}},\textcolor{stringliteral}{"{}J\_arm\_r\_06"{}}, \textcolor{stringliteral}{"{}J\_arm\_r\_07"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_head\_yaw"{}},\textcolor{stringliteral}{"{}J\_head\_pitch"{}},\textcolor{stringliteral}{"{}J\_waist\_pitch"{}},\textcolor{stringliteral}{"{}J\_waist\_roll"{}}, \textcolor{stringliteral}{"{}J\_waist\_yaw"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_hip\_l\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_l\_yaw"{}}, \textcolor{stringliteral}{"{}J\_hip\_l\_pitch"{}}, \textcolor{stringliteral}{"{}J\_knee\_l\_pitch"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_ankle\_l\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_l\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_r\_roll"{}}, \textcolor{stringliteral}{"{}J\_hip\_r\_yaw"{}},}
\DoxyCodeLine{                                              \textcolor{stringliteral}{"{}J\_hip\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_knee\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_r\_pitch"{}}, \textcolor{stringliteral}{"{}J\_ankle\_r\_roll"{}}\}}

\end{DoxyCode}


Definition at line 28 of file pino\+\_\+kin\+\_\+dyn.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
pino\+\_\+kin\+\_\+dyn.\+h\item 
pino\+\_\+kin\+\_\+dyn.\+cpp\end{DoxyCompactItemize}
